22218eafc4
We will not wrap fixed Vectors and Matrices individually. Methods that take those can just as well be wrapped with Vector or Matrix. Note const and & are ignored for those. I added a small method, insertFixed, that allows one to put in small fixed size matrices for optimization. Did not do retrieval yet.
2014-12-10 10:45:22 +01:00
a67289b240
fix the insert simpleCamera. Now SFMexample can work
2014-12-06 23:18:15 -05:00
96016edf85
Merge remote-tracking branch 'origin/develop' into feature/fixedSizeDerivatives
...
Conflicts:
.cproject
2014-12-04 21:07:34 +01:00
e49c9fa100
1. remove LieVector in IMUKittiExampleGPS.m 2. Add tests the priorFactor in matlab 3. template substition tests in testsClass.cpp
2014-12-04 13:28:20 -05:00
178e4fd61c
Cut out unsupported methods in GTSAM
2014-12-04 12:28:33 +01:00
c9ca9c82a0
GTSAM header that gets parsed correctly
2014-11-30 10:51:32 +01:00
0e9f5c7841
Added Vector and Matrix for BetweenFactor
2014-11-26 03:58:49 -05:00
7a0366684a
Added Vectors and Matrices. Does not work yet.
2014-11-26 03:54:21 -05:00
e842c9adbc
Fixed issue #172
2014-11-26 09:34:37 +01:00
867acbef6c
Fixed building wrapper.
2014-11-24 20:14:56 +01:00
5ab5e008ba
Doxygen docs and naming convention PreintMeasCov_ -> preintMeasCov_
2014-11-23 11:36:05 +01:00
50b1f78b6a
Working. Removed drone related make targets from cproject.
2014-11-22 17:50:35 -05:00
620fb4566f
Fixed matlab wrappers
2014-11-22 18:22:55 +01:00
9230f4269b
Changed return from Rot3 back to Matrix. Added imuBias in gtsam.h
2014-11-21 21:57:18 -05:00
881ecebfc9
Merge remote-tracking branch 'origin/develop' into feature/AHRSFactor
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Conflicts:
gtsam.h
gtsam/navigation/CombinedImuFactor.h
gtsam/navigation/ImuFactor.h
2014-11-19 13:10:33 -05:00
708d114b3c
Moved project specific factors into a different project.
2014-11-19 11:59:08 -05:00
d49396c1d2
Added and tested Cage Factor. Added Matlab Wrapper
2014-11-15 19:08:44 -05:00
3ba997014d
fixed the naming convention
2014-11-13 13:46:00 -05:00
3774194651
Renamed getDataName to DataName
2014-11-13 09:49:35 -05:00
341ad9f288
gtsam.h with templated Values::at now compiles !
2014-11-13 01:26:06 +01:00
14cf3da235
slight refactor
2014-11-11 13:42:13 +01:00
8638c74e35
Added specializations of insert, as well as Cal3Bundler
2014-11-10 18:06:09 +01:00
fde3805aab
Added Mike's desired code snippet
2014-11-10 16:44:48 +01:00
06eb801526
Added virtual destructor: for some reason if I remove virtual methods the unit tests fail...
2014-11-10 16:44:09 +01:00
9391decc91
This does not work; but perhaps something like this may be done?
2014-11-10 16:15:47 +01:00
e4936df80a
matlab wrappers compile, but need testing
2014-11-07 22:41:21 +01:00
0ead01af92
matlab wrapper code needs to be updated since lieXXX are not used anymore
2014-11-07 16:41:43 +01:00
32586ad175
wrap keys for GaussianFactor
2014-10-19 00:35:18 -04:00
cf4374563b
Fixed Dynamics Factor and added debug cout statements to help fix indeterminent linear system exception
2014-10-14 18:08:26 -04:00
53ac63d2f8
wrap DistanceFactor to matlab
2014-09-26 17:21:43 -04:00
3778e3c928
constructors for JacobianFactor up to 6-ary for testing in matlab
2014-08-06 11:10:36 -04:00
4037d1ec1a
wrap QPSolver
2014-08-06 11:10:35 -04:00
bc2e9959fa
Added matlab wrapper for Rot3AttitudeFactor.
...
Added a couple of functions to access data from the class in Matlab
2014-07-18 16:46:58 -04:00
bdc3036d90
Added matlab support for AHRSFactor.
2014-07-15 00:14:13 -04:00
3bacdbbec5
Move Smart Projection Factor wrapper to stable
2014-06-20 13:41:51 -04:00
a34dff1397
Merge remote-tracking branch 'origin/feature/new_imu_factors' into develop
2014-06-20 13:32:34 -04:00
0a7fd40b6c
fix matlab toolbox compilation error
2014-06-17 13:47:43 -04:00
a0c77dcc1c
remove unused variables in iterative solvers and rename accordingly.
2014-06-03 23:52:35 -04:00
7119d0c3c2
Sanitized G2o I/O interface to conform to what we had before. No sense in having many different styles, and this works better for MATLAB (now wrapped, as well).
...
BAL reading/writing should be similarly cleaned up.
2014-06-01 11:46:23 -04:00
3b10f61e5c
utilities.localToWorld
2014-05-27 00:42:03 -04:00
ddcf9c0efb
New routines to create Key collections
2014-05-25 11:15:17 -04:00
87c386d77f
Fast creation of large key sets from within MATLAB
2014-05-25 02:03:33 -04:00
2649b0fd7a
print variants for KeyList, KeyVector
2014-05-06 13:21:49 -04:00
a3b16dfa2b
Merged in feature/BNincompleteSolve (pull request #13 )
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Optimize an incomplete BayesNet
2014-05-06 11:09:32 -04:00
3f125b46df
New method merge (mainly for MATLAB)
2014-05-06 11:08:33 -04:00
108357992c
Optimize an incomplete BayesNet
2014-05-06 02:18:52 -04:00
cea4aef9f2
New perturbPose2 utility
2014-05-06 00:23:20 -04:00
2b20d61221
Wrapped measured() for BearingRangeFactor.
2014-04-30 22:32:59 -04:00
4ad4f9d68e
removed unnecessary parameter from constructor
2014-04-29 15:13:28 -04:00
a077dadc99
added new constructor to CombinedImuFactor in matlab wrapper
2014-04-24 15:52:11 -04:00
26c296603f
fixed use of 2nd order integration in matlab wrapper
2014-04-17 16:23:29 -04:00
6a0f2e9b88
Merge branch 'origin/release/2.4.0'
...
Conflicts:
.cproject
gtsam/geometry/Rot3.cpp
gtsam/geometry/Unit3.cpp
gtsam/geometry/Unit3.h
gtsam/geometry/tests/testEssentialMatrix.cpp
gtsam/geometry/tests/testSphere2.cpp
gtsam/navigation/CMakeLists.txt
2014-02-23 15:52:28 -05:00
926c27c732
Rename Sphere2 -> Unit3
2014-02-22 16:20:28 -05:00
a606d0eab9
EssentialMatrixFactor
2014-01-25 11:09:20 -05:00
05625ff25e
Sphere2 and EssentialMatrix
2014-01-25 10:21:58 -05:00
e69fbbb925
new constructor, getBasis->basis, rotate and distance
2013-12-18 03:11:58 +00:00
8688fc85d0
MATLAB wrapping and Monocular VO example
2013-12-17 16:18:31 +00:00
eb1ce0302c
Added wrapped version of load2D that doesn't override noisemodel
2013-12-05 19:56:46 +00:00
72a1feca2c
add KeyGroupMap to wrap ISAM2 update with group ordering to matlab. Wrap at() in SymbolicBayesNet, and GaussianConditional constructors with no noise model.
2013-12-04 14:36:13 +00:00
5b90fefddc
Added small test and additional interface wrapping for LabeledSymbol
2013-11-23 19:11:43 +00:00
5098003691
Fixed several warnings
2013-11-19 14:04:52 +00:00
9a1d1f01bc
Added serialization to KeyVector, KeyList and KeySet
2013-11-12 14:04:48 +00:00
e3208a1f8e
Added negate() and clone() to GaussianFactorGraph
2013-11-07 15:29:38 +00:00
e7ee411d39
Exposed more interfaces for working with linear graphs and bayes nets
2013-10-30 21:34:52 +00:00
c5f8f5b5da
Added matlab interfaces to GaussianFactorGraph to use ordered dense hessians/jacobians
2013-10-30 15:54:03 +00:00
21ebe5102f
Removed unnecessary comments
2013-10-25 21:20:28 +00:00
4950d6020a
Merged NonlinearSolverParams in gtsam.h into NonlinearOptimizerParams, removed references to NonlinearSolverParams elsewhere in comments
2013-10-25 19:47:22 +00:00
def9b84e45
Added virtual solve method to NonlinearOptimizer that you can override, e.g., with Ceres
...
See example in testNonlinearOptimizer
As part of this, I also merged SuccessiveLinearizationParams into NonlinearOptimizerParams, which is now in its own separate file NonlinearOptimizerParams.h
2013-10-25 18:27:43 +00:00
876edb4197
Added cmake flag to disable serialization for wrapped objects directly, rather than outright disabling serialization. By default GTSAM_WRAP_SERIALIZATION is on, turn it off to ignore serialization flags in gtsam.h
2013-10-24 14:38:04 +00:00
b67e17e43d
disable serialize() in gtsam.h to avoid bus error 10 in clang LLVM's ld version >=3.1
2013-10-23 21:28:05 +00:00
e799c9ffa9
tabs converted to two spaces
2013-10-10 17:52:57 +00:00
a7e7da49a5
Wrapped combine constructors for JacobianFactor and HessianFactor
2013-10-08 21:43:14 +00:00
f5bb8c6507
Added missing MATLAB wrapping of GaussianFactorGraph elimination functions
2013-09-18 17:23:33 +00:00
0fc7c068e5
Added back factor graph .add functions to maintain compatibility
2013-08-27 15:30:02 +00:00
5fe46f9bad
Added exists() as a utility for matlab to check whether a pointer is live
2013-08-23 20:06:08 +00:00
4a8fda3eab
comment out summarization in gtsam.h, since summarization.h disappeared.
2013-08-19 17:06:28 +00:00
4b12d6f794
Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization
2013-08-19 15:32:16 +00:00
84e9c1655d
wrap check converge
2013-08-16 16:25:59 +00:00
16b4f0fe8b
Moved ImuFactor and CombinedImuFactor into main gtsam, and moved InertialNavFactor family into gtsam_unstable.
2013-08-13 21:04:31 +00:00
4b3021b818
Moved ImuFactor and CombinedImuFactor into main gtsam, and moved InertialNavFactor family into gtsam_unstable.
2013-08-13 21:03:48 +00:00
e8d733364a
Updated gtsam.h for unordered changes
2013-08-12 18:21:30 +00:00
7c07c70802
Changed Between and Prior Factors and NonLinearEquality back to NoiseModelFactor.
2013-08-08 16:08:35 +00:00
34dc67c1af
Brought some relevant changes from aspn-imu-factor branch (is correct this time)
2013-08-02 16:04:17 +00:00
321a286f02
Revert "Brought some relevant changes from aspn-imu-factor branch"
...
This reverts commit b08a11ffb27d14487115f20745f1cea17fcc55ee.
2013-07-31 15:26:48 +00:00
7345b40feb
Brought some relevant changes from aspn-imu-factor branch
2013-07-31 15:25:03 +00:00
f03983548f
add accessors to StereoPoint2
2013-07-25 17:01:33 +00:00
c27a551634
wrapped StereoCamera
2013-07-23 15:32:38 +00:00
0278b0a3b7
Constructor from vector
2013-07-22 20:26:20 +00:00
4af8d3156d
Fixed indexing problem in KalmanFilter in a different way - now just modify the indices before solving and put them back afterwards, so that the timestep is still available
2013-07-05 15:46:07 +00:00
59d549dae2
Fixed indexing problem in KalmanFilter - linear variable index was incremented, resulting in allocating larger and larger data structures with each step. Now shifting indices back to 0 each step.
2013-07-03 21:55:30 +00:00
86cf063a5e
Added ISAM2::marginalCovariance to wrapper
2013-07-01 13:09:17 +00:00
5f500bd510
Wrapped copy constructor for Pose2, lots of routines for GaussianBayesTree, and made all NL factors descend from noiseModelFactor, so we get unwhitenedError etc by inheritance...
2013-06-20 19:44:50 +00:00
c7e79fb546
Added instructions to gtsam.h
2013-06-19 17:50:10 +00:00
456d1b5cf7
Cleanup: moving old serialization function to gtsam_unstable, renaming matlab serializaion test
2013-06-19 17:50:09 +00:00
45b5389f8a
Serialized more classes in gtsam and gtsam_unstable
2013-06-19 17:50:07 +00:00
23de91d44d
serialization works for graph and PriorFactor. Added second flag for serialization: can add "void serializable()" or "void serialize()" to allow for either just exporting (necessary if no default constructor), or implementing the full serialization functions
2013-06-19 17:50:05 +00:00
b5b1eac597
Rearranged serialization test to use new interface, added serialize() flags to Point2 and Values. Serialzing values fails - now to add export commands
2013-06-19 17:50:01 +00:00
8e73619989
Adding codegen components for serialization - in progress
2013-06-19 17:49:57 +00:00
5a7ee5f146
Disabled serialization syntactic sugar functions
2013-06-18 20:04:00 +00:00
fd42854222
Enabled R matrix in noise model.
2013-06-13 21:17:21 +00:00
a8199f2ed0
Changed naming convention for deserialization functions
2013-06-13 14:46:53 +00:00
cabcb3efc8
Added wrapping for serialization to/from file functions
2013-06-13 14:29:32 +00:00
e69af84c36
Added wrapping for graph/values serialization with tests in Matlab. Values serializes correctly, but graphs do not in either case.
2013-06-12 19:30:22 +00:00
b3748cf7c6
Added access functions to measurements and noisemodels for a variety of common nonlinear factors
2013-06-10 20:49:47 +00:00
ee21ef61a6
Added exists() to FactorGraph to allow for checking whether a factor exists at a given index. Necessary for matlab interface.
2013-06-06 18:07:55 +00:00
43a0367a66
Commented out MATLAB wrap Rot3::retractCayley because it does not exist in quaternion mode
2013-06-06 05:01:16 +00:00
228a26947f
Removed checkConsistency() from BayesTree
2013-05-22 17:27:44 +00:00
41b0b90376
Added nrNodes() and checkConsistency() to BayesTree
2013-05-22 17:27:42 +00:00
48fc15552a
Moved key utilty functions back to MastSLAM
2013-05-21 17:50:04 +00:00
3a13d6b2ad
Added load2D_robust function to allow robust noise models when loading datasets.
2013-05-20 21:46:30 +00:00
e02d57f9cb
Fixed interface for summarization
2013-05-08 10:14:27 +00:00
acd6e629e8
Moved older functions back to gtsam_unstable, cleanup. All tests pass. Rearranged summarization wrap interfaces.
2013-05-08 10:13:57 +00:00
31b0f70530
Moved utility functions and formatter from LabeledSymbol to Key. Added namespace functions
2013-05-03 16:21:47 +00:00
9e2b11800a
Moved LabeledSymbol from MastSLAM with some key-related utilities
2013-04-30 18:41:06 +00:00
62f6089119
Updated matlab wrapping for moved factors
2013-04-30 17:50:48 +00:00
7256c88bbd
change Pose2::adjointMap and adjoint to Pose2::AdjointMap and Adjoint to make it consistent with Pose3 and standard Lie group notation
2013-04-30 17:20:23 +00:00
b1b05887fc
allow method starting with uppercase letter to be wrapped in matlab. Wrap Pose3's AdjointMap and Adjoint operator
2013-04-21 19:29:41 +00:00
3e754ecd70
Comments and argument name only change
2013-04-10 19:35:48 +00:00
e8cb5491f0
Added function to convert from a Rot3 to a vector quaternion that works in matlab. Fixed plot2DTrajectory to actually plot poses when there are no marginals
2013-03-25 17:58:11 +00:00
74bb1ff9ae
Wrapped ISAM2 copy constructor in MATLAB
2013-03-13 18:17:45 +00:00
22f028ab51
Added scale() and add() for VectorValues with a matlab interface
2013-02-23 20:31:42 +00:00
6e026959ac
Added flags in ProjectionFactor to allow optional verbosity in printing during Cheirality exceptions, as well as optional re-throwing of the exception. By default, Cheriality exceptions will be silent.
2013-02-21 21:21:07 +00:00
ce5d709032
Wrapped Cal3DS2
2013-02-15 17:27:38 +00:00
25226602c3
change namespace "MEstimator" to "mEstimator" to wrap robust noise models to matlab. Add Tukey.
2013-02-07 19:19:33 +00:00
305e71ba19
Updated MATLAB wrapper gtsam.h for isam2 chain optimizations
2013-02-05 21:52:50 +00:00
9a23c2936a
Merge remote-tracking branch 'refs/remotes/svn/trunk' into isam2-chain-optimization
...
Conflicts:
gtsam/linear/VectorValues.h
2013-02-04 22:53:02 +00:00
40929e9cc3
Added and wrapped determinant functions for BayesTree
2013-02-04 21:00:43 +00:00
059a2c1b97
Added matlab interface to access cliques by index from BayesTree
2013-02-04 17:55:55 +00:00
a8f5bbf9bd
Wrapped namespace functions for GaussianBayesTree
2013-01-28 19:26:52 +00:00
e1563d9c21
Fixed typo in wrap module explanation at top of gtsam.h
2013-01-26 21:22:56 +00:00
494b022382
Merged from branch 'trunk' into 'isam2-chain-optimization'
2013-01-08 16:32:00 +00:00
392ca3a84d
make the print message with consistent format
2013-01-03 02:50:55 +00:00
1d8d733182
Updated MATLAB wrapper for VectorValues and Permutation changes in previous several commites (isam2-chain-optimizations branch)
2012-12-19 00:59:03 +00:00
5810747937
Removed 'permuteSeparatorWithInverse' from MATLAB wrapper
2012-12-18 14:21:38 +00:00
93b59990e3
Overload for insertProjectionFactors in matlab utilities
2012-12-17 22:30:54 +00:00
237da8b3a7
Moved LinearContainerFactor to gtsam/nonlinear and removed the now-redundant LinearizedFactor from gtsam_unstable
2012-11-21 19:41:24 +00:00
3a075208a1
wrapped allPose3s, pop methods in KeyList
2012-11-17 19:24:39 +00:00
0c3761a2a9
Reverted r14178, r14179, r14195, r14196 (isam2 chain optimizations) to move them to a branch
2012-11-11 20:51:03 +00:00
7ceab5b4a2
Removed 'permuteSeparatorWithInverse' from MATLAB wrapper
2012-11-05 01:04:14 +00:00
c3f38349b4
Fixed include paths for matlab modules
2012-10-28 20:48:17 +00:00
cb5f186031
Two more patches after last checkin - removed numCachedShortcuts from MATLAB wrapper, and added EliminateQR as default argument to GaussianFactorGraph eliminate functions
2012-10-28 06:43:05 +00:00
c251487baf
Wrapped GaussianMultifrontalSolver
2012-10-27 19:45:30 +00:00
24111423d7
Made specific eliminate and eliminateOne methods for SymbolicFactorGraph and GaussianFactorGraph and made them accessible from MATLAB
2012-10-27 19:45:28 +00:00
d90f44129c
Fixed typo/spelling
2012-10-09 00:12:51 +00:00
eb21cf0911
Cleaned up information/augmentedInformation for GaussianFactor and GaussianConditional
2012-10-08 22:40:37 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
6284312a5c
Added unit test for Fast* containers, added generic interface to convert from containers to KeySet
2012-09-24 19:42:41 +00:00
df2a6bfdee
Added reporting functions for counting number of cached shortcuts/separatorMarginals in BayesTree
2012-09-21 20:57:30 +00:00
ea2c13bca3
Added method saveGraph for BayesNet.
2012-09-14 22:13:33 +00:00
5cdcdaa448
Made SymbolicBayesTree and GaussianBayesTree subclasses of templated BayesTree
2012-09-14 20:52:22 +00:00
dellaert
lvzhaoyang
krunalchande
Mike Bosse
thduynguyen
cbeall3
Yong-Dian Jian
Frank Dellaert
Vadim Indelman
djensen3
Luca
Richard Roberts
Frank Dellaert
Alex Cunningham
Chris Beall
Vadim Indelman
Andrew Melim
jdurand7